@article{ding2021multimodal,
  title={Multimodal safety-critical scenarios generation for decision-making algorithms evaluation},
  author={Ding, Wenhao and Chen, Baiming and Li, Bo and Eun, Kim Ji and Zhao, Ding},
  journal={IEEE Robotics and Automation Letters},
  volume={6},
  number={2},
  pages={1551--1558},
  year={2021},
  publisher={IEEE}
}